Revised Planner Profile Interfaces

tesseract_command_language/include/tesseract_command_language/profile_dictionary.h

@@ -29,6 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <any>
+#include <boost/serialization/serialization.hpp>
 #include <iostream>
 #include <typeindex>
 #include <unordered_map>
@@ -40,15 +41,107 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 %shared_ptr(tesseract_planning::ProfileDictionary)
 #endif  // SWIG
 
+namespace tesseract_environment
+{
+class Environment;
+}
+
 namespace tesseract_planning
 {
+class Instruction;
+class CompositeInstruction;
+
+/**
+ * @brief Struct to produce a planner-specific planning profile to apply to a single waypoint.
+ * @details Examples of waypoint profiles might include costs/constraints for a waypoint or a waypoint sampler
+ */
+class WaypointProfile
+{
+public:
+  using Ptr = std::shared_ptr<WaypointProfile>;
+  using ConstPtr = std::shared_ptr<const WaypointProfile>;
+
+  WaypointProfile() = default;
+  WaypointProfile(const WaypointProfile&) = delete;
+  WaypointProfile& operator=(const WaypointProfile&) = delete;
+  WaypointProfile(WaypointProfile&&) = delete;
+  WaypointProfile&& operator=(WaypointProfile&&) = delete;
+
+  virtual ~WaypointProfile() = default;
+
+  virtual std::any create(const Instruction& instruction, const tesseract_environment::Environment& env) const = 0;
+
+private:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int)  // NOLINT
+  {
+  }
+};
+
+/**
+ * @brief Struct to produce a planner-specific planning profile to apply to a collection of waypoints defined in a
+ * composite instruction.
+ * @details Examples of composite profiles include costs/constraints that apply collectively to a group of waypoints
+ */
+class CompositeProfile
+{
+public:
+  using Ptr = std::shared_ptr<CompositeProfile>;
+  using ConstPtr = std::shared_ptr<const CompositeProfile>;
+
+  CompositeProfile() = default;
+  CompositeProfile(const CompositeProfile&) = delete;
+  CompositeProfile& operator=(const CompositeProfile&) = delete;
+  CompositeProfile(CompositeProfile&&) = delete;
+  CompositeProfile&& operator=(CompositeProfile&&) = delete;
+
+  virtual ~CompositeProfile() = default;
+  virtual std::any create(const CompositeInstruction& instruction,
+                          const tesseract_environment::Environment& env) const = 0;
+
+private:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int)  // NOLINT
+  {
+  }
+};
+
+/**
+ * @brief Struct to produce configuration parameters for the motion planner
+ */
+struct PlannerProfile
+{
+public:
+  using Ptr = std::shared_ptr<PlannerProfile>;
+  using ConstPtr = std::shared_ptr<const PlannerProfile>;
+
+  PlannerProfile() = default;
+  PlannerProfile(const PlannerProfile&) = delete;
+  PlannerProfile& operator=(const PlannerProfile&) = delete;
+  PlannerProfile(PlannerProfile&&) = delete;
+  PlannerProfile&& operator=(PlannerProfile&&) = delete;
+
+  virtual ~PlannerProfile() = default;
+
+  virtual std::any create() const = 0;
+
+private:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int)  // NOLINT
+  {
+  }
+};
+
 /**
  * @brief This class is used to store profiles for motion planning and process planning
  * @details This is a thread safe class
  *    A ProfileEntry<T> is a std::unordered_map<std::string, std::shared_ptr<const T>>
  *      - The key is the profile name
  *      - Where std::shared_ptr<const T> is the profile
- *    The ProfleEntry<T> is also stored in std::unordered_map where the key here is the std::type_index(typeid(T))
+ *    The ProfileEntry<T> is also stored in std::unordered_map where the key here is the std::type_index(typeid(T))
  * @note When adding a profile entry the T should be the base class type.
  */
 class ProfileDictionary
@@ -210,10 +303,18 @@ class ProfileDictionary
           .erase(profile_name);
   }
 
+  std::unordered_map<std::string, std::unordered_map<std::string, WaypointProfile::ConstPtr>> waypoint_profiles;
+  std::unordered_map<std::string, std::unordered_map<std::string, CompositeProfile::ConstPtr>> composite_profiles;
+  std::unordered_map<std::string, std::unordered_map<std::string, PlannerProfile::ConstPtr>> planner_profiles;
+
 protected:
   std::unordered_map<std::string, std::unordered_map<std::type_index, std::any>> profiles_;
   mutable std::shared_mutex mutex_;
 };
 }  // namespace tesseract_planning
 
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_planning::WaypointProfile);
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_planning::CompositeProfile);
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_planning::PlannerProfile);
+
 #endif  // TESSERACT_MOTION_PLANNERS_PROFILE_DICTIONARY_H

tesseract_motion_planners/test/profile_dictionary_tests.cpp

@@ -28,6 +28,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <gtest/gtest.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_command_language/composite_instruction.h>
+#include <tesseract_environment/environment.h>
 #include <tesseract_command_language/profile_dictionary.h>
 
 struct ProfileBase